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<div class="title">supervoxel_clustering.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : jpapon@gmail.com</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_SUPERVOXEL_CLUSTERING_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_SUPERVOXEL_CLUSTERING_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/supervoxel_clustering.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#aa91db439be84dadc9143483aa2240835">   47</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aa91db439be84dadc9143483aa2240835">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelClustering</a> (<span class="keywordtype">float</span> voxel_resolution, <span class="keywordtype">float</span> seed_resolution) :</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  resolution_ (voxel_resolution),</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  seed_resolution_ (seed_resolution),</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  adjacency_octree_ (),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  voxel_centroid_cloud_ (),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  color_importance_ (0.1f),</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  spatial_importance_ (0.4f),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  normal_importance_ (1.0f),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  use_default_transform_behaviour_ (true)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a01d37b323655ee29d2ed084e976901a1">adjacency_octree_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> (<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aa6068bcabad2d3b1e6870b489354006c">resolution_</a>));</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aa91db439be84dadc9143483aa2240835">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelClustering</a> (<span class="keywordtype">float</span> voxel_resolution, <span class="keywordtype">float</span> seed_resolution, <span class="keywordtype">bool</span>) :</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  resolution_ (voxel_resolution),</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  seed_resolution_ (seed_resolution),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  adjacency_octree_ (),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  voxel_centroid_cloud_ (),</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  color_importance_ (0.1f),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  spatial_importance_ (0.4f),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  normal_importance_ (1.0f),</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  use_default_transform_behaviour_ (true)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a01d37b323655ee29d2ed084e976901a1">adjacency_octree_</a>.reset (<span class="keyword">new</span> OctreeAdjacencyT (<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aa6068bcabad2d3b1e6870b489354006c">resolution_</a>));</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#ac09241a0bd7d0799f97a688d89dcd6e3">   77</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#ac09241a0bd7d0799f97a688d89dcd6e3">pcl::SupervoxelClustering&lt;PointT&gt;::~SupervoxelClustering</a> ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a77235192a0a6f1622a1bb3d7cc0003d2">   84</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a77235192a0a6f1622a1bb3d7cc0003d2">pcl::SupervoxelClustering&lt;PointT&gt;::setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr&amp; cloud)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;{</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordflow">if</span> ( cloud-&gt;size () == 0 )</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SupervoxelClustering::setInputCloud] Empty cloud set, doing nothing \n&quot;</span>);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  input_ = cloud;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  adjacency_octree_-&gt;setInputCloud (cloud);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a2b87562ad91fe6c0132340b53b04ea97">   98</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a2b87562ad91fe6c0132340b53b04ea97">pcl::SupervoxelClustering&lt;PointT&gt;::setNormalCloud</a> (<span class="keyword">typename</span> NormalCloudT::ConstPtr normal_cloud)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;{</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">if</span> ( normal_cloud-&gt;size () == 0 )</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SupervoxelClustering::setNormalCloud] Empty cloud set, doing nothing \n&quot;</span>);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  input_normals_ = normal_cloud;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a938e1cbb1bbbc364c9113d7971b362e3">  111</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a938e1cbb1bbbc364c9113d7971b362e3">pcl::SupervoxelClustering&lt;PointT&gt;::extract</a> (std::map&lt;uint32_t,<span class="keyword">typename</span> Supervoxel&lt;PointT&gt;::Ptr &gt; &amp;supervoxel_clusters)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;{</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="comment">//timer_.reset ();</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">//double t_start = timer_.getTime ();</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Init compute  \n&quot;;</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Preparing for segmentation \n&quot;;</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  segmentation_is_possible = prepareForSegmentation ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">//double t_prep = timer_.getTime ();</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Placing Seeds&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  std::vector&lt;int&gt; seed_indices;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  selectInitialSupervoxelSeeds (seed_indices);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Creating helpers &quot;&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  createSupervoxelHelpers (seed_indices);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">//double t_seeds = timer_.getTime ();</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Expanding the supervoxels&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> max_depth = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (1.8f*seed_resolution_/resolution_);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  expandSupervoxels (max_depth);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="comment">//double t_iterate = timer_.getTime ();</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Making Supervoxel structures&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  makeSupervoxels (supervoxel_clusters);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">//double t_supervoxels = timer_.getTime ();</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;--------------------------------- Timing Report --------------------------------- \n&quot;;</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Time to prep (normals, neighbors, voxelization)=&quot;&lt;&lt;t_prep-t_start&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Time to seed clusters                          =&quot;&lt;&lt;t_seeds-t_prep&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Time to expand clusters                        =&quot;&lt;&lt;t_iterate-t_seeds&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Time to create supervoxel structures           =&quot;&lt;&lt;t_supervoxels-t_iterate&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Total run time                                 =&quot;&lt;&lt;t_supervoxels-t_start&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;--------------------------------------------------------------------------------- \n&quot;;</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a43b9d69751345e0d41d461233bc2559f">  163</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a43b9d69751345e0d41d461233bc2559f">pcl::SupervoxelClustering&lt;PointT&gt;::refineSupervoxels</a> (<span class="keywordtype">int</span> num_itr, std::map&lt;uint32_t,<span class="keyword">typename</span> Supervoxel&lt;PointT&gt;::Ptr &gt; &amp;supervoxel_clusters)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">if</span> (supervoxel_helpers_.size () == 0)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SupervoxelClustering::refineVoxelNormals] Supervoxels not extracted, doing nothing - (Call extract first!) \n&quot;</span>);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordtype">int</span> max_depth = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (1.8f*seed_resolution_/resolution_);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_itr; ++i)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); ++sv_itr)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      sv_itr-&gt;refineNormals ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    reseedSupervoxels ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    expandSupervoxels (max_depth);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  makeSupervoxels (supervoxel_clusters);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#aad09607c53e620e324237c8286883575">  195</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aad09607c53e620e324237c8286883575">pcl::SupervoxelClustering&lt;PointT&gt;::prepareForSegmentation</a> ()</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;{</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// if user forgot to pass point cloud or if it is empty</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">if</span> ( input_-&gt;points.size () == 0 )</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">//Add the new cloud of data to the octree</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Populating adjacency octree with new cloud \n&quot;;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">//double prep_start = timer_.getTime ();</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordflow">if</span> ( (use_default_transform_behaviour_ &amp;&amp; input_-&gt;isOrganized ())</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;       || (!use_default_transform_behaviour_ &amp;&amp; use_single_camera_transform_))</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      adjacency_octree_-&gt;setTransformFunction (boost::bind (&amp;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#ab9e94dcce3ec3eca852af17286e30786">SupervoxelClustering::transformFunction</a>, <span class="keyword">this</span>, _1));</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  adjacency_octree_-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="comment">//double prep_end = timer_.getTime ();</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="comment">//std::cout&lt;&lt;&quot;Time elapsed populating octree with next frame =&quot;&lt;&lt;prep_end-prep_start&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">//Compute normals and insert data for centroids into data field of octree</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="comment">//double normals_start = timer_.getTime ();</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  computeVoxelData ();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="comment">//double normals_end = timer_.getTime ();</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Time elapsed finding normals and pushing into octree =&quot;&lt;&lt;normals_end-normals_start&lt;&lt;&quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;}</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#ae95b662b4d4b764f334d52611f466cb3">  223</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#ae95b662b4d4b764f334d52611f466cb3">pcl::SupervoxelClustering&lt;PointT&gt;::computeVoxelData</a> ()</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;{</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  voxel_centroid_cloud_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudT</a>);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  voxel_centroid_cloud_-&gt;resize (adjacency_octree_-&gt;getLeafCount ());</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keyword">typename</span> LeafVectorT::iterator leaf_itr = adjacency_octree_-&gt;begin ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">typename</span> PointCloudT::iterator cent_cloud_itr = voxel_centroid_cloud_-&gt;begin ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> idx = 0 ; leaf_itr != adjacency_octree_-&gt;end (); ++leaf_itr, ++cent_cloud_itr, ++idx)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; new_voxel_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="comment">//Add the point to the centroid cloud</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    new_voxel_data.<a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#a6a43e5d0cf77ec2fb51787af00afbf0f">getPoint</a> (*cent_cloud_itr);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">//voxel_centroid_cloud_-&gt;push_back(new_voxel_data.getPoint ());</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    new_voxel_data.idx_ = idx;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="comment">//If normals were provided</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordflow">if</span> (input_normals_)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="comment">//Verify that input normal cloud size is same as input cloud size</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    assert (input_normals_-&gt;size () == input_-&gt;size ());</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">//For every point in the input cloud, find its corresponding leaf</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">typename</span> NormalCloudT::const_iterator normal_itr = input_normals_-&gt;begin ();</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> PointCloudT::const_iterator input_itr = input_-&gt;begin (); input_itr != input_-&gt;end (); ++input_itr, ++normal_itr)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="comment">//If the point is not finite we ignore it</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordflow">if</span> ( !pcl::isFinite&lt;PointT&gt; (*input_itr))</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="comment">//Otherwise look up its leaf container</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* leaf = adjacency_octree_-&gt;getLeafContainerAtPoint (*input_itr);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="comment">//Get the voxel data object</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; voxel_data = leaf-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html#a0a7dc3ff4dab95c9aa899696c961c934">getData</a> ();</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="comment">//Add this normal in (we will normalize at the end)</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      voxel_data.normal_ += normal_itr-&gt;getNormalVector4fMap ();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      voxel_data.curvature_ += normal_itr-&gt;curvature;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="comment">//Now iterate through the leaves and normalize </span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">for</span> (leaf_itr = adjacency_octree_-&gt;begin (); leaf_itr != adjacency_octree_-&gt;end (); ++leaf_itr)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; voxel_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      voxel_data.normal_.normalize ();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      voxel_data.owner_ = 0;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      voxel_data.distance_ = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="comment">//Get the number of points in this leaf</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keywordtype">int</span> num_points = (*leaf_itr)-&gt;getPointCounter ();</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      voxel_data.curvature_ /= num_points;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">else</span> <span class="comment">//Otherwise just compute the normals</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordflow">for</span> (leaf_itr = adjacency_octree_-&gt;begin (); leaf_itr != adjacency_octree_-&gt;end (); ++leaf_itr)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; new_voxel_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="comment">//For every point, get its neighbors, build an index vector, compute normal</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      indices.reserve (81); </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="comment">//Push this point</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      indices.push_back (new_voxel_data.idx_);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> LeafContainerT::const_iterator neighb_itr=(*leaf_itr)-&gt;cbegin (); neighb_itr!=(*leaf_itr)-&gt;cend (); ++neighb_itr)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; neighb_voxel_data = (*neighb_itr)-&gt;getData ();</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="comment">//Push neighbor index</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        indices.push_back (neighb_voxel_data.idx_);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        <span class="comment">//Get neighbors neighbors, push onto cloud</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> LeafContainerT::const_iterator neighb_neighb_itr=(*neighb_itr)-&gt;cbegin (); neighb_neighb_itr!=(*neighb_itr)-&gt;cend (); ++neighb_neighb_itr)</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; neighb2_voxel_data = (*neighb_neighb_itr)-&gt;getData ();</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;          indices.push_back (neighb2_voxel_data.idx_);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="comment">//Compute normal</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      pcl::computePointNormal (*voxel_centroid_cloud_, indices, new_voxel_data.normal_, new_voxel_data.curvature_);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      pcl::flipNormalTowardsViewpoint (voxel_centroid_cloud_-&gt;points[new_voxel_data.idx_], 0.0f,0.0f,0.0f, new_voxel_data.normal_);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      new_voxel_data.normal_[3] = 0.0f;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      new_voxel_data.normal_.normalize ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      new_voxel_data.owner_ = 0;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      new_voxel_data.distance_ = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;}</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a8d9e64bc6c4ca7b94afe457d4df46bf1">  308</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a8d9e64bc6c4ca7b94afe457d4df46bf1">pcl::SupervoxelClustering&lt;PointT&gt;::expandSupervoxels</a> ( <span class="keywordtype">int</span> depth )</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; depth; ++i)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="comment">//Expand the the supervoxels by one iteration</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); ++sv_itr)</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      {</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        sv_itr-&gt;expand ();</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="comment">//Update the centers to reflect new centers</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); )</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keywordflow">if</span> (sv_itr-&gt;size () == 0)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        {</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          sv_itr = supervoxel_helpers_.erase (sv_itr);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        }</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;          sv_itr-&gt;updateCentroid ();</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          ++sv_itr;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        } </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      }</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  }</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;}</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#af5b42dc7dcd9c348a94aef941ad246c4">  340</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#af5b42dc7dcd9c348a94aef941ad246c4">pcl::SupervoxelClustering&lt;PointT&gt;::makeSupervoxels</a> (std::map&lt;uint32_t,<span class="keyword">typename</span> Supervoxel&lt;PointT&gt;::Ptr &gt; &amp;supervoxel_clusters)</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;{</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  supervoxel_clusters.clear ();</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); ++sv_itr)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    uint32_t label = sv_itr-&gt;getLabel ();</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    supervoxel_clusters[label].reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_supervoxel.html">Supervoxel&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    sv_itr-&gt;getXYZ (supervoxel_clusters[label]-&gt;centroid_.x,supervoxel_clusters[label]-&gt;centroid_.y,supervoxel_clusters[label]-&gt;centroid_.z);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    sv_itr-&gt;getRGB (supervoxel_clusters[label]-&gt;centroid_.rgba);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    sv_itr-&gt;getNormal (supervoxel_clusters[label]-&gt;normal_);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    sv_itr-&gt;getVoxels (supervoxel_clusters[label]-&gt;voxels_);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    sv_itr-&gt;getNormals (supervoxel_clusters[label]-&gt;normals_);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;}</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a9dee2c8a749e1491f43927b1c025401f">  358</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a9dee2c8a749e1491f43927b1c025401f">pcl::SupervoxelClustering&lt;PointT&gt;::createSupervoxelHelpers</a> (std::vector&lt;int&gt; &amp;seed_indices)</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;{</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  supervoxel_helpers_.clear ();</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; seed_indices.size (); ++i)</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    supervoxel_helpers_.push_back (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">SupervoxelHelper</a>(i+1,<span class="keyword">this</span>));</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="comment">//Find which leaf corresponds to this seed index</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* seed_leaf = adjacency_octree_-&gt;at(seed_indices[i]);<span class="comment">//adjacency_octree_-&gt;getLeafContainerAtPoint (seed_points[i]);</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keywordflow">if</span> (seed_leaf)</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      supervoxel_helpers_.back ().addLeaf (seed_leaf);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;Could not find leaf in pcl::SupervoxelClustering&lt;PointT&gt;::createSupervoxelHelpers - supervoxel will be deleted \n&quot;</span>);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;}</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a597347a31afc8787fc9a4067ccf0b0e1">  380</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a597347a31afc8787fc9a4067ccf0b0e1">pcl::SupervoxelClustering&lt;PointT&gt;::selectInitialSupervoxelSeeds</a> (std::vector&lt;int&gt; &amp;seed_indices)</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;{</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="comment">//TODO THIS IS BAD - SEEDING SHOULD BE BETTER</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="comment">//TODO Switch to assigning leaves! Don&#39;t use Octree!</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Size of centroid cloud=&quot;&lt;&lt;voxel_centroid_cloud_-&gt;size ()&lt;&lt;&quot;, seeding resolution=&quot;&lt;&lt;seed_resolution_&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="comment">//Initialize octree with voxel centroids</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch &lt;PointT&gt;</a> seed_octree (seed_resolution_);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  seed_octree.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">setInputCloud</a> (voxel_centroid_cloud_);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  seed_octree.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">addPointsFromInputCloud</a> ();</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Size of octree =&quot;&lt;&lt;seed_octree.getLeafCount ()&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; voxel_centers; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordtype">int</span> num_seeds = seed_octree.<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">getOccupiedVoxelCenters</a>(voxel_centers); </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Number of seed points before filtering=&quot;&lt;&lt;voxel_centers.size ()&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  std::vector&lt;int&gt; seed_indices_orig;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  seed_indices_orig.resize (num_seeds, 0);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  seed_indices.clear ();</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  std::vector&lt;int&gt; closest_index;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  std::vector&lt;float&gt; distance;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  closest_index.resize(1,0);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  distance.resize(1,0);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="keywordflow">if</span> (voxel_kdtree_ == 0)</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  {</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    voxel_kdtree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    voxel_kdtree_ -&gt;setInputCloud (voxel_centroid_cloud_);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  }</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_seeds; ++i)  </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  {</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    voxel_kdtree_-&gt;nearestKSearch (voxel_centers[i], 1, closest_index, distance);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    seed_indices_orig[i] = closest_index[0];</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  std::vector&lt;int&gt; neighbors;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  std::vector&lt;float&gt; sqr_distances;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  seed_indices.reserve (seed_indices_orig.size ());</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  <span class="keywordtype">float</span> search_radius = 0.5f*seed_resolution_;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="comment">// This is 1/20th of the number of voxels which fit in a planar slice through search volume</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="comment">// Area of planar slice / area of voxel side. (Note: This is smaller than the value mentioned in the original paper)</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keywordtype">float</span> min_points = 0.05f * (search_radius)*(search_radius) * 3.1415926536f  / (resolution_*resolution_);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; seed_indices_orig.size (); ++i)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="keywordtype">int</span> num = voxel_kdtree_-&gt;radiusSearch (seed_indices_orig[i], search_radius , neighbors, sqr_distances);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="keywordtype">int</span> min_index = seed_indices_orig[i];</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordflow">if</span> ( num &gt; min_points)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      seed_indices.push_back (min_index);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    }</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  }</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;Number of seed points after filtering=&quot;&lt;&lt;seed_points.size ()&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;}</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a5a1f44fad93be1fc56ecd4483aba973c">  438</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a5a1f44fad93be1fc56ecd4483aba973c">pcl::SupervoxelClustering&lt;PointT&gt;::reseedSupervoxels</a> ()</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;{</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="comment">//Go through each supervoxel and remove all it&#39;s leaves</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); ++sv_itr)</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  {</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    sv_itr-&gt;removeAllLeaves ();</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  }</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  std::vector&lt;int&gt; closest_index;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  std::vector&lt;float&gt; distance;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="comment">//Now go through each supervoxel, find voxel closest to its center, add it in</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); ++sv_itr)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> point;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    sv_itr-&gt;getXYZ (point.x, point.y, point.z);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    voxel_kdtree_-&gt;nearestKSearch (point, 1, closest_index, distance);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* seed_leaf = adjacency_octree_-&gt;at (closest_index[0]);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keywordflow">if</span> (seed_leaf)</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    {</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      sv_itr-&gt;addLeaf (seed_leaf);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    {</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;Could not find leaf in pcl::SupervoxelClustering&lt;PointT&gt;::reseedSupervoxels - supervoxel will be deleted \n&quot;</span>);</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    }</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  }</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;}</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#ab9e94dcce3ec3eca852af17286e30786">  470</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#ab9e94dcce3ec3eca852af17286e30786">pcl::SupervoxelClustering&lt;PointT&gt;::transformFunction</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;{</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  p.x /= p.z;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  p.y /= p.z;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  p.z = std::log (p.z);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;}</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00479"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a76f8677b4113dcdf3c1e2d95e4275e6e">  479</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a76f8677b4113dcdf3c1e2d95e4275e6e">pcl::SupervoxelClustering&lt;PointT&gt;::voxelDataDistance</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> &amp;v1, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> &amp;v2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  <span class="keywordtype">float</span> spatial_dist = (v1.xyz_ - v2.xyz_).norm () / seed_resolution_;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  <span class="keywordtype">float</span> color_dist =  (v1.rgb_ - v2.rgb_).norm () / 255.0f;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  <span class="keywordtype">float</span> cos_angle_normal = 1.0f - std::abs (v1.normal_.dot (v2.normal_));</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; <span class="comment">// std::cout &lt;&lt; &quot;s=&quot;&lt;&lt;spatial_dist&lt;&lt;&quot;  c=&quot;&lt;&lt;color_dist&lt;&lt;&quot;   an=&quot;&lt;&lt;cos_angle_normal&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keywordflow">return</span>  cos_angle_normal * normal_importance_ + color_dist * color_importance_+ spatial_dist * spatial_importance_;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;}</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#abc98c38e820acde1fb8dc87c66ddc5c3">  498</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#abc98c38e820acde1fb8dc87c66ddc5c3">pcl::SupervoxelClustering&lt;PointT&gt;::getSupervoxelAdjacencyList</a> (VoxelAdjacencyList &amp;adjacency_list_arg)<span class="keyword"> const </span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  adjacency_list_arg.clear ();</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="comment">//Add a vertex for each label, store ids in map</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  std::map &lt;uint32_t, VoxelID&gt; label_ID_map;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  {</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    VoxelID node_id = add_vertex (adjacency_list_arg);</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    adjacency_list_arg[node_id] = (sv_itr-&gt;getLabel ());</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    label_ID_map.insert (std::make_pair (sv_itr-&gt;getLabel (), node_id));</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  }</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  {</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    uint32_t label = sv_itr-&gt;getLabel ();</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    std::set&lt;uint32_t&gt; neighbor_labels;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    sv_itr-&gt;getNeighborLabels (neighbor_labels);</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    <span class="keywordflow">for</span> (std::set&lt;uint32_t&gt;::iterator label_itr = neighbor_labels.begin (); label_itr != neighbor_labels.end (); ++label_itr)</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    {</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      <span class="keywordtype">bool</span> edge_added;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      EdgeID edge;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      VoxelID u = (label_ID_map.find (label))-&gt;second;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      VoxelID v = (label_ID_map.find (*label_itr))-&gt;second;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      boost::tie (edge, edge_added) = add_edge (u,v,adjacency_list_arg);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <span class="comment">//Calc distance between centers, set as edge weight</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keywordflow">if</span> (edge_added)</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      {</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> centroid_data = (sv_itr)-&gt;getCentroid ();</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        <span class="comment">//Find the neighbhor with this label</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> neighb_centroid_data;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::const_iterator neighb_itr = supervoxel_helpers_.cbegin (); neighb_itr != supervoxel_helpers_.cend (); ++neighb_itr)</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        {</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;          <span class="keywordflow">if</span> (neighb_itr-&gt;getLabel () == (*label_itr))</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;          {</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;            neighb_centroid_data = neighb_itr-&gt;getCentroid ();</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;          }</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        }</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        <span class="keywordtype">float</span> length = voxelDataDistance (centroid_data, neighb_centroid_data);</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        adjacency_list_arg[edge] = length;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      }</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    }</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  }</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;}</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00549"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a92f5536d132225ee24c33fa967a37cf3">  549</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a92f5536d132225ee24c33fa967a37cf3">pcl::SupervoxelClustering&lt;PointT&gt;::getSupervoxelAdjacency</a> (std::multimap&lt;uint32_t, uint32_t&gt; &amp;label_adjacency)<span class="keyword"> const</span></div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  label_adjacency.clear ();</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  {</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    uint32_t label = sv_itr-&gt;getLabel ();</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    std::set&lt;uint32_t&gt; neighbor_labels;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    sv_itr-&gt;getNeighborLabels (neighbor_labels);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    <span class="keywordflow">for</span> (std::set&lt;uint32_t&gt;::iterator label_itr = neighbor_labels.begin (); label_itr != neighbor_labels.end (); ++label_itr)</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      label_adjacency.insert (std::pair&lt;uint32_t,uint32_t&gt; (label, *label_itr) );</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    <span class="comment">//if (neighbor_labels.size () == 0)</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    <span class="comment">//  std::cout &lt;&lt; label&lt;&lt;&quot;(size=&quot;&lt;&lt;sv_itr-&gt;size () &lt;&lt; &quot;) has &quot;&lt;&lt;neighbor_labels.size () &lt;&lt; &quot;\n&quot;;</span></div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  }</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;}</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr</div>
<div class="line"><a name="l00566"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a768a1fad8f67a7ea5e18a36cd4cf4af5">  566</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a768a1fad8f67a7ea5e18a36cd4cf4af5">pcl::SupervoxelClustering&lt;PointT&gt;::getVoxelCentroidCloud</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <span class="keyword">typename</span> PointCloudT::Ptr centroid_copy (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudT</a>);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">copyPointCloud</a> (*voxel_centroid_cloud_, *centroid_copy);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keywordflow">return</span> centroid_copy;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;}</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr</div>
<div class="line"><a name="l00575"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a48b32cea7002e291ddc3bb1398f52656">  575</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a48b32cea7002e291ddc3bb1398f52656">pcl::SupervoxelClustering&lt;PointT&gt;::getLabeledVoxelCloud</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr labeled_voxel_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZL&gt;</a>);</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  {</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keyword">typename</span> PointCloudT::Ptr voxels;</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    sv_itr-&gt;getVoxels (voxels);</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZL&gt;</a> xyzl_copy;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">copyPointCloud</a> (*voxels, xyzl_copy);</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    </div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    pcl::PointCloud&lt;pcl::PointXYZL&gt;::iterator xyzl_copy_itr = xyzl_copy.begin ();</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    <span class="keywordflow">for</span> ( ; xyzl_copy_itr != xyzl_copy.end (); ++xyzl_copy_itr) </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      xyzl_copy_itr-&gt;label = sv_itr-&gt;getLabel ();</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    *labeled_voxel_cloud += xyzl_copy;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  }</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  </div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="keywordflow">return</span> labeled_voxel_cloud;  </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;}</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr</div>
<div class="line"><a name="l00597"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#aec41648bf8e12ee2b9621e7ec08fd887">  597</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aec41648bf8e12ee2b9621e7ec08fd887">pcl::SupervoxelClustering&lt;PointT&gt;::getLabeledCloud</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr labeled_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZL&gt;</a>);</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*input_,*labeled_cloud);</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  pcl::PointCloud &lt;pcl::PointXYZL&gt;::iterator i_labeled;</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud &lt;PointT&gt;::const_iterator i_input = input_-&gt;begin ();</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  std::vector &lt;int&gt; indices;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  std::vector &lt;float&gt; sqr_distances;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  <span class="keywordflow">for</span> (i_labeled = labeled_cloud-&gt;begin (); i_labeled != labeled_cloud-&gt;end (); ++i_labeled,++i_input)</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  {</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    <span class="keywordflow">if</span> ( !pcl::isFinite&lt;PointT&gt; (*i_input))</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      i_labeled-&gt;label = 0;</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;    {     </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      i_labeled-&gt;label = 0;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a> *leaf = adjacency_octree_-&gt;getLeafContainerAtPoint (*i_input);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; voxel_data = leaf-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html#a0a7dc3ff4dab95c9aa899696c961c934">getData</a> ();</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      <span class="keywordflow">if</span> (voxel_data.owner_)</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;        i_labeled-&gt;label = voxel_data.owner_-&gt;getLabel ();</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    }</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;      </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  }</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    </div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  <span class="keywordflow">return</span> (labeled_cloud);</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;}</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160; </div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr</div>
<div class="line"><a name="l00627"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a4cf4c3c376c25b784c35faff05326d88">  627</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a4cf4c3c376c25b784c35faff05326d88">pcl::SupervoxelClustering&lt;PointT&gt;::makeSupervoxelNormalCloud</a> (std::map&lt;uint32_t,<span class="keyword">typename</span> Supervoxel&lt;PointT&gt;::Ptr &gt; &amp;supervoxel_clusters)</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;{</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr normal_cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a>);</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  normal_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (supervoxel_clusters.size ());</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="keyword">typename</span> std::map &lt;uint32_t, typename pcl::Supervoxel&lt;PointT&gt;::Ptr&gt;::iterator sv_itr,sv_itr_end;</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  sv_itr = supervoxel_clusters.begin ();</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  sv_itr_end = supervoxel_clusters.end ();</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  pcl::PointCloud&lt;pcl::PointNormal&gt;::iterator normal_cloud_itr = normal_cloud-&gt;begin ();</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  <span class="keywordflow">for</span> ( ; sv_itr != sv_itr_end; ++sv_itr, ++normal_cloud_itr)</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  {</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    (sv_itr-&gt;second)-&gt;getCentroidPointNormal (*normal_cloud_itr);</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  }</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  <span class="keywordflow">return</span> normal_cloud;</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;}</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00644"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a2b6f7118c8c4ba33d474fda9e53c0aee">  644</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a2b6f7118c8c4ba33d474fda9e53c0aee">pcl::SupervoxelClustering&lt;PointT&gt;::getVoxelResolution</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  <span class="keywordflow">return</span> (resolution_);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;}</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00651"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a4c6cdbb8117d4c80506a427c5fd1c221">  651</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a4c6cdbb8117d4c80506a427c5fd1c221">pcl::SupervoxelClustering&lt;PointT&gt;::setVoxelResolution</a> (<span class="keywordtype">float</span> resolution)</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;{</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  resolution_ = resolution;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  </div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;}</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160; </div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00659"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#ad6ecaedc1bd918a372a2305e0e7dbfef">  659</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#ad6ecaedc1bd918a372a2305e0e7dbfef">pcl::SupervoxelClustering&lt;PointT&gt;::getSeedResolution</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="keywordflow">return</span> (seed_resolution_);</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;}</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00666"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a8357cf80b7a32e7315e01ed3ce265b1f">  666</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a8357cf80b7a32e7315e01ed3ce265b1f">pcl::SupervoxelClustering&lt;PointT&gt;::setSeedResolution</a> (<span class="keywordtype">float</span> seed_resolution)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;{</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;  seed_resolution_ = seed_resolution;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;}</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160; </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00674"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a3acef1d574a49a782557a2925a6d7af0">  674</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a3acef1d574a49a782557a2925a6d7af0">pcl::SupervoxelClustering&lt;PointT&gt;::setColorImportance</a> (<span class="keywordtype">float</span> val)</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;{</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;  color_importance_ = val;</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;}</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160; </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00681"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a29cf64b3f1ae3345dd3d2462a10f677c">  681</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a29cf64b3f1ae3345dd3d2462a10f677c">pcl::SupervoxelClustering&lt;PointT&gt;::setSpatialImportance</a> (<span class="keywordtype">float</span> val)</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;{</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  spatial_importance_ = val;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;}</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00688"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#ae4ea0842b3d4205104c23b63294a8ed8">  688</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#ae4ea0842b3d4205104c23b63294a8ed8">pcl::SupervoxelClustering&lt;PointT&gt;::setNormalImportance</a> (<span class="keywordtype">float</span> val)</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;{</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  normal_importance_ = val;</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;}</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160; </div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00695"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#aa8888922b5dfae82f61ddb15f8074bd7">  695</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#aa8888922b5dfae82f61ddb15f8074bd7">pcl::SupervoxelClustering&lt;PointT&gt;::setUseSingleCameraTransform</a> (<span class="keywordtype">bool</span> val)</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;{</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  use_default_transform_behaviour_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;  use_single_camera_transform_ = val;</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;}</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00703"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a180e6e54a1b1320266ec41c2879923cd">  703</a></span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a180e6e54a1b1320266ec41c2879923cd">pcl::SupervoxelClustering&lt;PointT&gt;::getMaxLabel</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  <span class="keywordtype">int</span> max_label = 0;</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  {</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    <span class="keywordtype">int</span> temp = sv_itr-&gt;getLabel ();</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;    <span class="keywordflow">if</span> (temp &gt; max_label)</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;      max_label = temp;</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  }</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  <span class="keywordflow">return</span> max_label;</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;}</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;{ </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  {</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    <span class="comment">//Explicit overloads for RGB types</span></div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;    <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;pcl::PointXYZRGB,pcl::SupervoxelClustering&lt;pcl::PointXYZRGB&gt;::VoxelData</a>&gt;::addPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> &amp;new_point);</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;    </div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;    <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;pcl::PointXYZRGBA,pcl::SupervoxelClustering&lt;pcl::PointXYZRGBA&gt;::VoxelData</a>&gt;::addPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> &amp;new_point);</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    </div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;    <span class="comment">//Explicit overloads for RGB types</span></div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;pcl::PointXYZRGB,pcl::SupervoxelClustering&lt;pcl::PointXYZRGB&gt;::VoxelData</a>&gt;::computeData ();</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;    </div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;pcl::PointXYZRGBA,pcl::SupervoxelClustering&lt;pcl::PointXYZRGBA&gt;::VoxelData</a>&gt;::computeData ();</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;    </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;    <span class="comment">//Explicit overloads for XYZ types</span></div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;    <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;pcl::PointXYZ,pcl::SupervoxelClustering&lt;pcl::PointXYZ&gt;::VoxelData</a>&gt;::addPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &amp;new_point);</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;    </div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;pcl::PointXYZ,pcl::SupervoxelClustering&lt;pcl::PointXYZ&gt;::VoxelData</a>&gt;::computeData ();</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;  }</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;}</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160; </div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;{</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  </div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  <span class="keyword">template</span>&lt;&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#a6a43e5d0cf77ec2fb51787af00afbf0f">pcl::SupervoxelClustering&lt;pcl::PointXYZRGB&gt;::VoxelData::getPoint</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> &amp;point_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  </div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  <span class="keyword">template</span>&lt;&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#a6a43e5d0cf77ec2fb51787af00afbf0f">pcl::SupervoxelClustering&lt;pcl::PointXYZRGBA&gt;::VoxelData::getPoint</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> &amp;point_arg ) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00758"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#a6a43e5d0cf77ec2fb51787af00afbf0f">  758</a></span>&#160;  <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#a6a43e5d0cf77ec2fb51787af00afbf0f">pcl::SupervoxelClustering&lt;PointT&gt;::VoxelData::getPoint</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg )<span class="keyword"> const</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    <span class="comment">//XYZ is required or this doesn&#39;t make much sense...</span></div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    point_arg.x = xyz_[0];</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    point_arg.y = xyz_[1];</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    point_arg.z = xyz_[2];</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  }</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  </div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00768"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#ad51a32b2a4d8e5dc62e337261b89c88f">  768</a></span>&#160;  <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#ad51a32b2a4d8e5dc62e337261b89c88f">pcl::SupervoxelClustering&lt;PointT&gt;::VoxelData::getNormal</a> (<a class="code" href="structpcl_1_1_normal.html">Normal</a> &amp;normal_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    normal_arg.normal_x = normal_[0];</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;    normal_arg.normal_y = normal_[1];</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    normal_arg.normal_z = normal_[2];</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    normal_arg.curvature = curvature_;</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;  }</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;}</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160; </div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::addLeaf</a> (LeafContainerT* leaf_arg)</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;{</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  leaves_.insert (leaf_arg);</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  VoxelData&amp; voxel_data = leaf_arg-&gt;getData ();</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  voxel_data.owner_ = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;}</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160; </div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::removeLeaf</a> (LeafContainerT* leaf_arg)</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;{</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;  leaves_.erase (leaf_arg);</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;}</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::removeAllLeaves</a> ()</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;{</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::iterator leaf_itr;</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;  <span class="keywordflow">for</span> (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr)</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;  {</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;    VoxelData&amp; voxel = ((*leaf_itr)-&gt;getData ());</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    voxel.owner_ = 0;</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;    voxel.distance_ = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;  }</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;  leaves_.clear ();</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;}</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::expand</a> ()</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;{</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;Expanding sv &quot;&lt;&lt;label_&lt;&lt;&quot;, owns &quot;&lt;&lt;leaves_.size ()&lt;&lt;&quot; voxels\n&quot;;</span></div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;  <span class="comment">//Buffer of new neighbors - initial size is just a guess of most possible</span></div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  std::vector&lt;LeafContainerT*&gt; new_owned;</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  new_owned.reserve (leaves_.size () * 9);</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  <span class="comment">//For each leaf belonging to this supervoxel</span></div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::iterator leaf_itr;</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <span class="keywordflow">for</span> (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr)</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;  {</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    <span class="comment">//for each neighbor of the leaf</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> LeafContainerT::const_iterator neighb_itr=(*leaf_itr)-&gt;cbegin (); neighb_itr!=(*leaf_itr)-&gt;cend (); ++neighb_itr)</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    {</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;      <span class="comment">//Get a reference to the data contained in the leaf</span></div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;      VoxelData&amp; neighbor_voxel = ((*neighb_itr)-&gt;getData ());</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;      <span class="comment">//TODO this is a shortcut, really we should always recompute distance</span></div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;      <span class="keywordflow">if</span>(neighbor_voxel.owner_ == <span class="keyword">this</span>)</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;      <span class="comment">//Compute distance to the neighbor</span></div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;      <span class="keywordtype">float</span> dist = parent_-&gt;<a class="code" href="classpcl_1_1_supervoxel_clustering.html#a76f8677b4113dcdf3c1e2d95e4275e6e">voxelDataDistance</a> (centroid_, neighbor_voxel);</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;      <span class="comment">//If distance is less than previous, we remove it from its owner&#39;s list</span></div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;      <span class="comment">//and change the owner to this and distance (we *steal* it!)</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;      <span class="keywordflow">if</span> (dist &lt; neighbor_voxel.distance_)  </div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;      {</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;        neighbor_voxel.distance_ = dist;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;        <span class="keywordflow">if</span> (neighbor_voxel.owner_ != <span class="keyword">this</span>)</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;        {</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;          <span class="keywordflow">if</span> (neighbor_voxel.owner_)</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;            (neighbor_voxel.owner_)-&gt;removeLeaf(*neighb_itr);</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;          neighbor_voxel.owner_ = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;          new_owned.push_back (*neighb_itr);</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;        }</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;      }</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;    }</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  }</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;  <span class="comment">//Push all new owned onto the owned leaf set</span></div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;  <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::iterator new_owned_itr;</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  <span class="keywordflow">for</span> (new_owned_itr=new_owned.begin (); new_owned_itr!=new_owned.end (); ++new_owned_itr)</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  {</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;    leaves_.insert (*new_owned_itr);</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  }</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  </div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;}</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160; </div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::refineNormals</a> ()</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;{</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::iterator leaf_itr;</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;  <span class="comment">//For each leaf belonging to this supervoxel, get its neighbors, build an index vector, compute normal</span></div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;  <span class="keywordflow">for</span> (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr)</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;  {</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;    VoxelData&amp; voxel_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;    std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;    indices.reserve (81); </div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;    <span class="comment">//Push this point</span></div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;    indices.push_back (voxel_data.idx_);</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> LeafContainerT::const_iterator neighb_itr=(*leaf_itr)-&gt;cbegin (); neighb_itr!=(*leaf_itr)-&gt;cend (); ++neighb_itr)</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;    {</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;      <span class="comment">//Get a reference to the data contained in the leaf</span></div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;      VoxelData&amp; neighbor_voxel_data = ((*neighb_itr)-&gt;getData ());</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;      <span class="comment">//If the neighbor is in this supervoxel, use it</span></div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="keywordflow">if</span> (neighbor_voxel_data.owner_ == <span class="keyword">this</span>)</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;      {</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;        indices.push_back (neighbor_voxel_data.idx_);</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;        <span class="comment">//Also check its neighbors</span></div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> LeafContainerT::const_iterator neighb_neighb_itr=(*neighb_itr)-&gt;cbegin (); neighb_neighb_itr!=(*neighb_itr)-&gt;cend (); ++neighb_neighb_itr)</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;        {</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;          VoxelData&amp; neighb_neighb_voxel_data = (*neighb_neighb_itr)-&gt;getData ();</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;          <span class="keywordflow">if</span> (neighb_neighb_voxel_data.owner_ == <span class="keyword">this</span>)</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;            indices.push_back (neighb_neighb_voxel_data.idx_);</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;        }</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;        </div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;        </div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;      }</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;    }</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;    <span class="comment">//Compute normal</span></div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;    pcl::computePointNormal (*parent_-&gt;voxel_centroid_cloud_, indices, voxel_data.normal_, voxel_data.curvature_);</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;    pcl::flipNormalTowardsViewpoint (parent_-&gt;voxel_centroid_cloud_-&gt;points[voxel_data.idx_], 0.0f,0.0f,0.0f, voxel_data.normal_);</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;    voxel_data.normal_[3] = 0.0f;</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;    voxel_data.normal_.normalize ();</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;  }</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;}</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160; </div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::updateCentroid</a> ()</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;{</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;  centroid_.normal_ = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;  centroid_.xyz_ = Eigen::Vector3f::Zero ();</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;  centroid_.rgb_ = Eigen::Vector3f::Zero ();</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::iterator leaf_itr = leaves_.begin ();</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;  <span class="keywordflow">for</span> ( ; leaf_itr!= leaves_.end (); ++leaf_itr)</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;  {</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;    <span class="keyword">const</span> VoxelData&amp; leaf_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;    centroid_.normal_ += leaf_data.normal_;</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;    centroid_.xyz_ += leaf_data.xyz_;</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;    centroid_.rgb_ += leaf_data.rgb_;</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;  }</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;  centroid_.normal_.normalize ();</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;  centroid_.xyz_ /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaves_.size ());</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;  centroid_.rgb_ /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaves_.size ());</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;  </div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;}</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160; </div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::getVoxels</a> (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr &amp;voxels)<span class="keyword"> const</span></div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;  voxels.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;  voxels-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;  voxels-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (leaves_.size ());</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::iterator voxel_itr = voxels-&gt;begin ();</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::const_iterator leaf_itr;</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;  <span class="keywordflow">for</span> ( leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr, ++voxel_itr)</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;  {</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;    <span class="keyword">const</span> VoxelData&amp; leaf_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;    leaf_data.getPoint (*voxel_itr);</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;  }</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;}</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160; </div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::getNormals</a> (<span class="keyword">typename</span> pcl::PointCloud&lt;Normal&gt;::Ptr &amp;normals)<span class="keyword"> const</span></div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;  normals.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;Normal&gt;</a>);</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;  normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (leaves_.size ());</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::const_iterator leaf_itr;</div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;  <span class="keyword">typename</span> pcl::PointCloud&lt;Normal&gt;::iterator normal_itr = normals-&gt;begin ();</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;  <span class="keywordflow">for</span> (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr, ++normal_itr)</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;  {</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;    <span class="keyword">const</span> VoxelData&amp; leaf_data = (*leaf_itr)-&gt;getData ();</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;    leaf_data.getNormal (*normal_itr);</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;  }</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;}</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160; </div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper::getNeighborLabels</a> (std::set&lt;uint32_t&gt; &amp;neighbor_labels)<span class="keyword"> const</span></div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;  neighbor_labels.clear ();</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;  <span class="comment">//For each leaf belonging to this supervoxel</span></div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;  <span class="keyword">typename</span> SupervoxelHelper::const_iterator leaf_itr;</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;  <span class="keywordflow">for</span> (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr)</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;  {</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;    <span class="comment">//for each neighbor of the leaf</span></div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> LeafContainerT::const_iterator neighb_itr=(*leaf_itr)-&gt;cbegin (); neighb_itr!=(*leaf_itr)-&gt;cend (); ++neighb_itr)</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;    {</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;      <span class="comment">//Get a reference to the data contained in the leaf</span></div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;      VoxelData&amp; neighbor_voxel = ((*neighb_itr)-&gt;getData ());</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;      <span class="comment">//If it has an owner, and it&#39;s not us - get it&#39;s owner&#39;s label insert into set</span></div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;      <span class="keywordflow">if</span> (neighbor_voxel.owner_ != <span class="keyword">this</span> &amp;&amp; neighbor_voxel.owner_)</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;      {</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;        neighbor_labels.insert (neighbor_voxel.owner_-&gt;getLabel ());</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;      }</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;    }</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  }</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;}</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160; </div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160; </div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SUPERVOXEL_CLUSTERING_HPP_</span></div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_1_1_supervoxel_helper_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">pcl::SupervoxelClustering::SupervoxelHelper</a></div><div class="ttdoc">Internal storage class for supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_1_1_voxel_data_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">pcl::SupervoxelClustering::VoxelData</a></div><div class="ttdoc">VoxelData is a structure used for storing data within a pcl::octree::OctreePointCloudAdjacencyContain...</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_1_1_voxel_data_html_a6a43e5d0cf77ec2fb51787af00afbf0f"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#a6a43e5d0cf77ec2fb51787af00afbf0f">pcl::SupervoxelClustering::VoxelData::getPoint</a></div><div class="ttdeci">void getPoint(PointT &amp;point_arg) const</div><div class="ttdoc">Gets the data of in the form of a point</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:758</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_1_1_voxel_data_html_ad51a32b2a4d8e5dc62e337261b89c88f"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html#ad51a32b2a4d8e5dc62e337261b89c88f">pcl::SupervoxelClustering::VoxelData::getNormal</a></div><div class="ttdeci">void getNormal(Normal &amp;normal_arg) const</div><div class="ttdoc">Gets the data of in the form of a normal</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:768</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering</a></div><div class="ttdoc">Implements a supervoxel algorithm based on voxel structure, normals, and rgb values</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a01d37b323655ee29d2ed084e976901a1"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a01d37b323655ee29d2ed084e976901a1">pcl::SupervoxelClustering::adjacency_octree_</a></div><div class="ttdeci">OctreeAdjacencyT::Ptr adjacency_octree_</div><div class="ttdoc">Octree Adjacency structure with leaves at voxel resolution</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a180e6e54a1b1320266ec41c2879923cd"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a180e6e54a1b1320266ec41c2879923cd">pcl::SupervoxelClustering::getMaxLabel</a></div><div class="ttdeci">int getMaxLabel() const</div><div class="ttdoc">Returns the current maximum (highest) label</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:703</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a29cf64b3f1ae3345dd3d2462a10f677c"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a29cf64b3f1ae3345dd3d2462a10f677c">pcl::SupervoxelClustering::setSpatialImportance</a></div><div class="ttdeci">void setSpatialImportance(float val)</div><div class="ttdoc">Set the importance of spatial distance for supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:681</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a2b6f7118c8c4ba33d474fda9e53c0aee"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a2b6f7118c8c4ba33d474fda9e53c0aee">pcl::SupervoxelClustering::getVoxelResolution</a></div><div class="ttdeci">float getVoxelResolution() const</div><div class="ttdoc">Get the resolution of the octree voxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:644</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a2b87562ad91fe6c0132340b53b04ea97"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a2b87562ad91fe6c0132340b53b04ea97">pcl::SupervoxelClustering::setNormalCloud</a></div><div class="ttdeci">virtual void setNormalCloud(typename NormalCloudT::ConstPtr normal_cloud)</div><div class="ttdoc">This method sets the normals to be used for supervoxels (should be same size as input cloud)</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:98</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a3acef1d574a49a782557a2925a6d7af0"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a3acef1d574a49a782557a2925a6d7af0">pcl::SupervoxelClustering::setColorImportance</a></div><div class="ttdeci">void setColorImportance(float val)</div><div class="ttdoc">Set the importance of color for supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:674</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a43b9d69751345e0d41d461233bc2559f"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a43b9d69751345e0d41d461233bc2559f">pcl::SupervoxelClustering::refineSupervoxels</a></div><div class="ttdeci">virtual void refineSupervoxels(int num_itr, std::map&lt; uint32_t, typename Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters)</div><div class="ttdoc">This method refines the calculated supervoxels - may only be called after extract</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:163</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a48b32cea7002e291ddc3bb1398f52656"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a48b32cea7002e291ddc3bb1398f52656">pcl::SupervoxelClustering::getLabeledVoxelCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZL &gt;::Ptr getLabeledVoxelCloud() const</div><div class="ttdoc">Returns labeled voxelized cloud Points that belong to the same supervoxel have the same label....</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:575</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a4c6cdbb8117d4c80506a427c5fd1c221"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a4c6cdbb8117d4c80506a427c5fd1c221">pcl::SupervoxelClustering::setVoxelResolution</a></div><div class="ttdeci">void setVoxelResolution(float resolution)</div><div class="ttdoc">Set the resolution of the octree voxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:651</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a4cf4c3c376c25b784c35faff05326d88"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a4cf4c3c376c25b784c35faff05326d88">pcl::SupervoxelClustering::makeSupervoxelNormalCloud</a></div><div class="ttdeci">static pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr makeSupervoxelNormalCloud(std::map&lt; uint32_t, typename Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters)</div><div class="ttdoc">Static helper function which returns a pointcloud of normals for the input supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:627</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a597347a31afc8787fc9a4067ccf0b0e1"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a597347a31afc8787fc9a4067ccf0b0e1">pcl::SupervoxelClustering::selectInitialSupervoxelSeeds</a></div><div class="ttdeci">void selectInitialSupervoxelSeeds(std::vector&lt; int &gt; &amp;seed_indices)</div><div class="ttdoc">This selects points to use as initial supervoxel centroids</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:380</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a5a1f44fad93be1fc56ecd4483aba973c"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a5a1f44fad93be1fc56ecd4483aba973c">pcl::SupervoxelClustering::reseedSupervoxels</a></div><div class="ttdeci">void reseedSupervoxels()</div><div class="ttdoc">Reseeds the supervoxels by finding the voxel closest to current centroid</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:438</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a768a1fad8f67a7ea5e18a36cd4cf4af5"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a768a1fad8f67a7ea5e18a36cd4cf4af5">pcl::SupervoxelClustering::getVoxelCentroidCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::Ptr getVoxelCentroidCloud() const</div><div class="ttdoc">Returns a deep copy of the voxel centroid cloud</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:566</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a76f8677b4113dcdf3c1e2d95e4275e6e"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a76f8677b4113dcdf3c1e2d95e4275e6e">pcl::SupervoxelClustering::voxelDataDistance</a></div><div class="ttdeci">float voxelDataDistance(const VoxelData &amp;v1, const VoxelData &amp;v2) const</div><div class="ttdoc">Distance function used for comparing voxelDatas</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a77235192a0a6f1622a1bb3d7cc0003d2"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a77235192a0a6f1622a1bb3d7cc0003d2">pcl::SupervoxelClustering::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">This method sets the cloud to be supervoxelized</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a8357cf80b7a32e7315e01ed3ce265b1f"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a8357cf80b7a32e7315e01ed3ce265b1f">pcl::SupervoxelClustering::setSeedResolution</a></div><div class="ttdeci">void setSeedResolution(float seed_resolution)</div><div class="ttdoc">Set the resolution of the octree seed voxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:666</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a8d9e64bc6c4ca7b94afe457d4df46bf1"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a8d9e64bc6c4ca7b94afe457d4df46bf1">pcl::SupervoxelClustering::expandSupervoxels</a></div><div class="ttdeci">void expandSupervoxels(int depth)</div><div class="ttdoc">This performs the superpixel evolution</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:308</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a92f5536d132225ee24c33fa967a37cf3"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a92f5536d132225ee24c33fa967a37cf3">pcl::SupervoxelClustering::getSupervoxelAdjacency</a></div><div class="ttdeci">void getSupervoxelAdjacency(std::multimap&lt; uint32_t, uint32_t &gt; &amp;label_adjacency) const</div><div class="ttdoc">Get a multimap which gives supervoxel adjacency</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:549</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a938e1cbb1bbbc364c9113d7971b362e3"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a938e1cbb1bbbc364c9113d7971b362e3">pcl::SupervoxelClustering::extract</a></div><div class="ttdeci">virtual void extract(std::map&lt; uint32_t, typename Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters)</div><div class="ttdoc">This method launches the segmentation algorithm and returns the supervoxels that were obtained during...</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:111</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a9dee2c8a749e1491f43927b1c025401f"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a9dee2c8a749e1491f43927b1c025401f">pcl::SupervoxelClustering::createSupervoxelHelpers</a></div><div class="ttdeci">void createSupervoxelHelpers(std::vector&lt; int &gt; &amp;seed_indices)</div><div class="ttdoc">This method creates the internal supervoxel helpers based on the provided seed points</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:358</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aa6068bcabad2d3b1e6870b489354006c"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aa6068bcabad2d3b1e6870b489354006c">pcl::SupervoxelClustering::resolution_</a></div><div class="ttdeci">float resolution_</div><div class="ttdoc">Stores the resolution used in the octree</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aa8888922b5dfae82f61ddb15f8074bd7"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aa8888922b5dfae82f61ddb15f8074bd7">pcl::SupervoxelClustering::setUseSingleCameraTransform</a></div><div class="ttdeci">void setUseSingleCameraTransform(bool val)</div><div class="ttdoc">Set whether or not to use the single camera transform</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:695</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aa91db439be84dadc9143483aa2240835"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aa91db439be84dadc9143483aa2240835">pcl::SupervoxelClustering::SupervoxelClustering</a></div><div class="ttdeci">SupervoxelClustering(float voxel_resolution, float seed_resolution)</div><div class="ttdoc">Constructor that sets default values for member variables.</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aad09607c53e620e324237c8286883575"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aad09607c53e620e324237c8286883575">pcl::SupervoxelClustering::prepareForSegmentation</a></div><div class="ttdeci">virtual bool prepareForSegmentation()</div><div class="ttdoc">This method simply checks if it is possible to execute the segmentation algorithm with the current se...</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:195</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_ab9e94dcce3ec3eca852af17286e30786"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#ab9e94dcce3ec3eca852af17286e30786">pcl::SupervoxelClustering::transformFunction</a></div><div class="ttdeci">void transformFunction(PointT &amp;p)</div><div class="ttdoc">Transform function used to normalize voxel density versus distance from camera</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:470</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_abc98c38e820acde1fb8dc87c66ddc5c3"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#abc98c38e820acde1fb8dc87c66ddc5c3">pcl::SupervoxelClustering::getSupervoxelAdjacencyList</a></div><div class="ttdeci">void getSupervoxelAdjacencyList(VoxelAdjacencyList &amp;adjacency_list_arg) const</div><div class="ttdoc">Gets the adjacency list (Boost Graph library) which gives connections between supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:498</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_ac09241a0bd7d0799f97a688d89dcd6e3"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#ac09241a0bd7d0799f97a688d89dcd6e3">pcl::SupervoxelClustering::~SupervoxelClustering</a></div><div class="ttdeci">virtual ~SupervoxelClustering()</div><div class="ttdoc">This destructor destroys the cloud, normals and search method used for finding neighbors....</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:77</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_ad6ecaedc1bd918a372a2305e0e7dbfef"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#ad6ecaedc1bd918a372a2305e0e7dbfef">pcl::SupervoxelClustering::getSeedResolution</a></div><div class="ttdeci">float getSeedResolution() const</div><div class="ttdoc">Get the resolution of the octree seed voxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:659</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_ae4ea0842b3d4205104c23b63294a8ed8"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#ae4ea0842b3d4205104c23b63294a8ed8">pcl::SupervoxelClustering::setNormalImportance</a></div><div class="ttdeci">void setNormalImportance(float val)</div><div class="ttdoc">Set the importance of scalar normal product for supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:688</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_ae95b662b4d4b764f334d52611f466cb3"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#ae95b662b4d4b764f334d52611f466cb3">pcl::SupervoxelClustering::computeVoxelData</a></div><div class="ttdeci">void computeVoxelData()</div><div class="ttdoc">This sets the data of the voxels in the tree</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:223</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aec41648bf8e12ee2b9621e7ec08fd887"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aec41648bf8e12ee2b9621e7ec08fd887">pcl::SupervoxelClustering::getLabeledCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; PointXYZL &gt;::Ptr getLabeledCloud() const</div><div class="ttdoc">Returns labeled cloud Points that belong to the same supervoxel have the same label....</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:597</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_af5b42dc7dcd9c348a94aef941ad246c4"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#af5b42dc7dcd9c348a94aef941ad246c4">pcl::SupervoxelClustering::makeSupervoxels</a></div><div class="ttdeci">void makeSupervoxels(std::map&lt; uint32_t, typename Supervoxel&lt; PointT &gt;::Ptr &gt; &amp;supervoxel_clusters)</div><div class="ttdoc">Constructs the map of supervoxel clusters from the internal supervoxel helpers</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.hpp:340</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html"><div class="ttname"><a href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a></div><div class="ttdoc">Supervoxel container class - stores a cluster extracted using supervoxel clustering</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_container_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer</a></div><div class="ttdoc">Octree adjacency leaf container class- stores a list of pointers to neighbors, number of points added...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency_container.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_container_html_a0a7dc3ff4dab95c9aa899696c961c934"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html#a0a7dc3ff4dab95c9aa899696c961c934">pcl::octree::OctreePointCloudAdjacencyContainer::getData</a></div><div class="ttdeci">DataT &amp; getData()</div><div class="ttdoc">Returns a reference to the data member to access it without copying</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency_container.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a></div><div class="ttdoc">Octree pointcloud voxel class which maintains adjacency information for its voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a87cad20428de876fcf789e674a39f503"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">pcl::octree::OctreePointCloud::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud_arg, const IndicesConstPtr &amp;indices_arg=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input data set.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_abb3e4301c89ea5011a1a1167800a57b3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">pcl::octree::OctreePointCloud::getOccupiedVoxelCenters</a></div><div class="ttdeci">int getOccupiedVoxelCenters(AlignedPointTVector &amp;voxel_center_list_arg) const</div><div class="ttdoc">Get a PointT vector of centers of all occupied voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac477d9477e781d980709b1e8886d2c7c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Add points from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:607</div></div>
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